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<title>Doxygen: pcl::registration::WarpPointRigid6D&lt; PointSourceT, PointTargetT, Scalar &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="classpcl_1_1registration_1_1_warp_point_rigid6_d-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::registration::WarpPointRigid6D&lt; PointSourceT, PointTargetT, Scalar &gt; 模板类 参考</div>  </div>
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<p><b><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid3_d.html" title="WarpPointRigid3D enables 3D (1D rotation + 2D translation) transformations for points.">WarpPointRigid3D</a></b> enables 6D (3D rotation + 3D translation) transformations for points.  
 <a href="classpcl_1_1registration_1_1_warp_point_rigid6_d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="warp__point__rigid__6d_8h_source.html">warp_point_rigid_6d.h</a>&gt;</code></p>
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类 pcl::registration::WarpPointRigid6D&lt; PointSourceT, PointTargetT, Scalar &gt; 继承关系图:</div>
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 <div class="center">
  <img src="classpcl_1_1registration_1_1_warp_point_rigid6_d.png" usemap="#pcl::registration::WarpPointRigid6D_3C_20PointSourceT_2C_20PointTargetT_2C_20Scalar_20_3E_map" alt=""/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:abcbeaf6a3ddd420e9374c93da883f457"><td class="memItemLeft" align="right" valign="top"><a id="abcbeaf6a3ddd420e9374c93da883f457"></a>
typedef <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSourceT, PointTargetT, Scalar &gt;::Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:abcbeaf6a3ddd420e9374c93da883f457"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb9a41e63d0a7f75f47ce2456672f664"><td class="memItemLeft" align="right" valign="top"><a id="aeb9a41e63d0a7f75f47ce2456672f664"></a>
typedef <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSourceT, PointTargetT, Scalar &gt;::VectorX&#160;</td><td class="memItemRight" valign="bottom"><b>VectorX</b></td></tr>
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<tr class="memitem:a074eb5ae085d97d24c83021ffcc9b375"><td class="memItemLeft" align="right" valign="top"><a id="a074eb5ae085d97d24c83021ffcc9b375"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid6_d.html">WarpPointRigid6D</a>&lt; PointSourceT, PointTargetT, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a074eb5ae085d97d24c83021ffcc9b375"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abdfb5642a50152a479baeff3295c43d4"><td class="memItemLeft" align="right" valign="top"><a id="abdfb5642a50152a479baeff3295c43d4"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid6_d.html">WarpPointRigid6D</a>&lt; PointSourceT, PointTargetT, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:abdfb5642a50152a479baeff3295c43d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="memitem:aa726f1e571f441e58d41d17b7065e47a inherit pub_types_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top"><a id="aa726f1e571f441e58d41d17b7065e47a"></a>
typedef Eigen::Matrix&lt; float, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
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<tr class="memitem:a98f480875d121a1f290b2a08ecb11747 inherit pub_types_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top"><a id="a98f480875d121a1f290b2a08ecb11747"></a>
typedef Eigen::Matrix&lt; float, Eigen::Dynamic, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>VectorX</b></td></tr>
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typedef Eigen::Matrix&lt; float, 4, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Vector4</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSourceT, PointTargetT, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a4c3c6a60a4c9c56033c5f0782fb3ba2c inherit pub_types_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top"><a id="a4c3c6a60a4c9c56033c5f0782fb3ba2c"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">WarpPointRigid</a>&lt; PointSourceT, PointTargetT, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a2e0186e850b4bebf8bbb9f96fa93f376"><td class="memItemLeft" align="right" valign="top"><a id="a2e0186e850b4bebf8bbb9f96fa93f376"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid6_d.html#a2e0186e850b4bebf8bbb9f96fa93f376">~WarpPointRigid6D</a> ()</td></tr>
<tr class="memdesc:a2e0186e850b4bebf8bbb9f96fa93f376"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a2e0186e850b4bebf8bbb9f96fa93f376"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74a8c0506e323ea39cbbb21ebe319f3b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid6_d.html#a74a8c0506e323ea39cbbb21ebe319f3b">setParam</a> (const VectorX &amp;p)</td></tr>
<tr class="memdesc:a74a8c0506e323ea39cbbb21ebe319f3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set warp parameters.  <a href="classpcl_1_1registration_1_1_warp_point_rigid6_d.html#a74a8c0506e323ea39cbbb21ebe319f3b">更多...</a><br /></td></tr>
<tr class="separator:a74a8c0506e323ea39cbbb21ebe319f3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_warp_point_rigid')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid&lt; PointSourceT, PointTargetT, float &gt;</a></td></tr>
<tr class="memitem:a2acb12f764535f36b7dd3228813d9d39 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a2acb12f764535f36b7dd3228813d9d39">WarpPointRigid</a> (int nr_dim)</td></tr>
<tr class="memdesc:a2acb12f764535f36b7dd3228813d9d39 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a2acb12f764535f36b7dd3228813d9d39">更多...</a><br /></td></tr>
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<tr class="memitem:abdfcb73949d5cb8305869d6ed9e956e9 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top"><a id="abdfcb73949d5cb8305869d6ed9e956e9"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html#abdfcb73949d5cb8305869d6ed9e956e9">~WarpPointRigid</a> ()</td></tr>
<tr class="memdesc:abdfcb73949d5cb8305869d6ed9e956e9 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:abdfcb73949d5cb8305869d6ed9e956e9 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c4df15fd8ac62c85aeb09b6f3447aa2 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a9c4df15fd8ac62c85aeb09b6f3447aa2">setParam</a> (const VectorX &amp;p)=0</td></tr>
<tr class="memdesc:a9c4df15fd8ac62c85aeb09b6f3447aa2 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set warp parameters. Pure virtual.  <a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a9c4df15fd8ac62c85aeb09b6f3447aa2">更多...</a><br /></td></tr>
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<tr class="memitem:a50e68fdd96d7202511f28f766ebec3e6 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a50e68fdd96d7202511f28f766ebec3e6">warpPoint</a> (const PointSourceT &amp;pnt_in, PointSourceT &amp;pnt_out) const</td></tr>
<tr class="memdesc:a50e68fdd96d7202511f28f766ebec3e6 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Warp a point given a transformation matrix  <a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a50e68fdd96d7202511f28f766ebec3e6">更多...</a><br /></td></tr>
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<tr class="memitem:a03b663ed2044908458f6db4c5377a5f0 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html#a03b663ed2044908458f6db4c5377a5f0">warpPoint</a> (const PointSourceT &amp;pnt_in, Vector4 &amp;pnt_out) const</td></tr>
<tr class="memdesc:a03b663ed2044908458f6db4c5377a5f0 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Warp a point given a transformation matrix  <a href="classpcl_1_1registration_1_1_warp_point_rigid.html#a03b663ed2044908458f6db4c5377a5f0">更多...</a><br /></td></tr>
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<tr class="memitem:af1980f36f8c7143d617c9b9693ae6f95 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top"><a id="af1980f36f8c7143d617c9b9693ae6f95"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html#af1980f36f8c7143d617c9b9693ae6f95">getDimension</a> () const</td></tr>
<tr class="memdesc:af1980f36f8c7143d617c9b9693ae6f95 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of dimensions. <br /></td></tr>
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<tr class="memitem:ab9fc5ebfb7533a0b965308f1d53727c4 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="memItemLeft" align="right" valign="top"><a id="ab9fc5ebfb7533a0b965308f1d53727c4"></a>
const Matrix4 &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html#ab9fc5ebfb7533a0b965308f1d53727c4">getTransform</a> () const</td></tr>
<tr class="memdesc:ab9fc5ebfb7533a0b965308f1d53727c4 inherit pub_methods_classpcl_1_1registration_1_1_warp_point_rigid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the Transform used. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_warp_point_rigid"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_warp_point_rigid')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid.html">pcl::registration::WarpPointRigid&lt; PointSourceT, PointTargetT, float &gt;</a></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>nr_dim_</b></td></tr>
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Matrix4&#160;</td><td class="memItemRight" valign="bottom"><b>transform_matrix_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSourceT, typename PointTargetT, typename Scalar = float&gt;<br />
class pcl::registration::WarpPointRigid6D&lt; PointSourceT, PointTargetT, Scalar &gt;</h3>

<p><b><a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid3_d.html" title="WarpPointRigid3D enables 3D (1D rotation + 2D translation) transformations for points.">WarpPointRigid3D</a></b> enables 6D (3D rotation + 3D translation) transformations for points. </p>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a74a8c0506e323ea39cbbb21ebe319f3b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a74a8c0506e323ea39cbbb21ebe319f3b">&#9670;&nbsp;</a></span>setParam()</h2>

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template&lt;typename PointSourceT , typename PointTargetT , typename Scalar  = float&gt; </div>
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_warp_point_rigid6_d.html">pcl::registration::WarpPointRigid6D</a>&lt; PointSourceT, PointTargetT, Scalar &gt;::setParam </td>
          <td>(</td>
          <td class="paramtype">const VectorX &amp;&#160;</td>
          <td class="paramname"><em>p</em></td><td>)</td>
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<p>Set warp parameters. </p>
<dl class="section note"><dt>注解</dt><dd>Assumes the quaternion parameters are normalized. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>warp parameters (tx ty tz qx qy qz) </td></tr>
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<div class="fragment"><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          assert (p.rows () == this-&gt;getDimension ());</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="comment">// Copy the rotation and translation components</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          transform_matrix_.setZero ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          transform_matrix_ (0, 3) = p[0];</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          transform_matrix_ (1, 3) = p[1];</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          transform_matrix_ (2, 3) = p[2];</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;          transform_matrix_ (3, 3) = 1;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          <span class="comment">// Compute w from the unit quaternion</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          Eigen::Quaternion&lt;Scalar&gt; q (0, p[3], p[4], p[5]);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          q.w () = <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (sqrt (1 - q.dot (q)));</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          q.normalize ();</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          transform_matrix_.topLeftCorner (3, 3) = q.toRotationMatrix ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div>
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<li>registration/include/pcl/registration/<a class="el" href="warp__point__rigid__6d_8h_source.html">warp_point_rigid_6d.h</a></li>
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